**************
Cascade
**************
*Introduced in MORe v3.1*

Represents a cascaded loop with a velocity loop and a position loop.

------------------
Block diagram
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   .. image:: media/arc_cascade.png
      :alt: Cascade Architecture Block Diagram
      :scale: 50 %


==============  ==============================================================
Signal          Description
==============  ==============================================================
:math:`v_s`     Velocity setpoints
:math:`x_s`     Position setpoints
:math:`v_i`     Velocity feedback
:math:`y`       Force/torque command value
==============  ==============================================================
            
----------------
Controller gains
----------------
      
==============  ====================  =================  ==============================================================
Variable        Units linear          Units rotary       Description
==============  ====================  =================  ==============================================================
:math:`K_v`     :math:`1/s`           :math:`1/s`        Proportional gain of the position controller
:math:`K_p`     :math:`N s/m`         :math:`Nm s/rad`   Proportional gain of the velocity controller
:math:`T_{ni}`  :math:`s`             :math:`s`          Integral time
:math:`V_{ff}`     :math:`-`             :math:`-`          Velocity feed-forward gain
:math:`\tau`    :math:`s`             :math:`s`          Cut-off frequency of derivative approximation
==============  ====================  =================  ==============================================================

---------
Feedbacks
---------

Selected Entity
^^^^^^^^^^^^^^^
Select "Link" to use a link output as feedback (direct feedback).
If the controller contains a motor, an output of the motor can be selected (indirect feedback).

Link Output
^^^^^^^^^^^
Only visible if selected entity is "Link". Select a link to be used as feedback.

Velocity Loop Closed 
^^^^^^^^^^^^^^^^^^^^

Disable to open the velocity feedback loop.


Position Loop Closed 
^^^^^^^^^^^^^^^^^^^^

Disable to open the position feedback loop.